World Academy of Science, Engineering and Technology International Journal of Electrical, Computer, Electronics and Communication Engineering Vol:1, No:8, 2007 Analysis on Modeling and Simulink of DC Motor and its Driving System Used for Wheeled Mobile Robot Wai Phyo Aung International Science Index Vol:1, No:8, 2007 waset.org/Publication/3689 Abstract—Wheeled Mobile Robots (WMRs) are built with their Wheels’ drive machine, Motors Depend on their desire design of WMR, Technicians made used of DC Motors for motion control In this paper, the author would like to analyze how to choose DC motor to be balance with their applications of especially for WMR Specification of DC Motor that can be used with desire WMR is to be determined by using MATLAB Simulink model Therefore, this paper is mainly focus on software application of MATLAB and Control Technology As the driving system of DC motor, a Peripheral Interface Controller (PIC) based control system is designed including the assembly software technology and H-bridge control circuit This Driving system is used to drive two DC gear motors which are used to control the motion of WMR In this analyzing process, the author mainly focus the drive system on driving two DC gear motors that will control with Differential Drive technique to the Wheeled Mobile Robot For the design analysis of Motor Driving System, PIC16F84A is used and five inputs of sensors detected data are tested with five ON/OFF switches The outputs of PIC are the commands to drive two DC gear motors, inputs of Hbridge circuit In this paper, Control techniques of PIC microcontroller and H-bridge circuit, Mechanism assignments of WMR are combined and analyzed by mainly focusing with the “Modeling and Simulink of DC Motor using MATLAB” Keywords—Control System Design, DC Motors, Differential Drive, H-bridge control circuit, MATLAB Simulink model, Peripheral Interface Controller (PIC),Wheeled Mobile Robots C I INTRODUCTION ONTROL System Design and Analysis Technologies are widely suppress and very useful to be applied in real-time development Some can be solved by hardware technology and by the advance used of software, control system are analyzed easily and detail DC Motors can be used in various applications and can be used as various sizes and rates As an application of Wheeled Mobile Robot, DC Motor can be used as wheel drive machines and by using a simple controller of PIC16F84A, the rotation of Motors or the Motion of Robot can be controlled easily An Obstacle Avoidance Mobile Robot can be designed using a PIC and obstacles detected Sensors As a Wheeled Mobile Robot, depend on its drive Manuscript received November 15, 2007 This work was supported in part by the Ministry of Science and Technology, Union of Myanmar Wai Phyo Aung is with the Mandalay Technological University, Mandalay, Myanmar (phone: 095-2-88704 (Electronic Engineering Department), fax: 095-2-88702 (Office,MTU), e-mail: aungwp@gmail.com) International Scholarly and Scientific Research & Innovation 1(8) 2007 techniques, their wheels are drive by DC Motors For the Differential Drive of WMR, the two left/right wheels are driven with each DC gear motor This is the concept of the Robotic Technology and DC Motors and its driving system For the DC Motor Modeling, it can be analyzed with control techniques of Step response, Impulse response and Bode plot by using MATLAB Simulink All data based on the internal circuit of a simple DC Motor and its features can be analyzed both by Control System design calculation and by MATLAB software By the effect of MATLAB modeling results of DC Motors, all others types of DC Motors can be chosen with their desire applications Combination of Control technology and Robot technology are now become real-time challenges By the advance control analysis of easiest way, high-tech can be solved with the help of Modeling and Simulink using MATLAB This is the concept of DC Motor Control and MATLAB software The paper is mentioned on the basic research of developing a Wheeled Mobile robot This is a type of Sensor-based Mobile Robot and it mainly function as an Obstacle Avoidance Vehicle All these processes are design in this research and it is mainly focus to analyze the DC gear motor by using MATLAB This is the concept of the whole paper with using techniques, hardware and software: Hardware: PIC, DC Motors, H-bridge circuit Software: Assembly used in PIC STARTPLUS, Mfile programming, Modeling and Simulink used in MATLAB II MODELING A DC MOTOR To be modeling a DC Motor, simple circuit of its electrical diagram as shown in Fig is considered To be Modeling and Simulate the DC motor, the following steps are to be made step by step; Step1: Represent the DC motor circuit diagram Step2: Represent system equations Step3: Calculate the Transfer function Step4: Convert to model block Step5: Create the m file to simulate the model Step6: Analysis A Closed-Loop System Consideration To perform the simulation of the system, an appropriate model needs to be established Therefore, a model based on the motor specifications needs to be obtained Fig shows 1137 World Academy of Science, Engineering and Technology International Journal of Electrical, Computer, Electronics and Communication Engineering Vol:1, No:8, 2007 the DC motor circuit with Torque and Rotor Angle consideration Gv( s ) = ω ( s) V (s) = K {[( R + Ls )( Js + b) + K ]} (10) D MATLAB Representation To represent the model with m-file, we can perform the Fig data as follows; A = tf (1, [L R]); I = feedback (A, K); T = I*K; Gs=T*tf(1,[J b]); Ga=tf(1,[1 0])*Gs; International Science Index Vol:1, No:8, 2007 waset.org/Publication/3689 Fig Schematic Diagram of a DC Motor [6] B System Equation The motor torque T is related to the armature current, i , by a torque constant K; (1) T = Ki The generated voltage, ea, is relative to angular velocity by; e a = Kω m = K dθ dt ‘tf’ means transfer function of data in its block and ‘feedback’ function is also used And then the DC motor’s rating in each part can be outputted as follows; Gs.InputName = 'Voltage'; Gs.OutputName = 'Speed'; Ga.InputName = 'Voltage'; Ga.OutputName = 'Angle'; I.InputName = 'Voltage'; I.OutputName = 'Current'; T.InputName = 'Voltage'; T.OutputName= 'Torque'; (2) From Fig we can write the following equations based on the Newton’s law combined with the Kirchoff’s law: d 2θ dθ +b = Ki dt dt di dθ L + Ri = V − K dt dt J (3) (4) C Transfer Function Using the Laplace transform, equations (3) and (4) can be written as: Js 2θ ( s ) + bsθ ( s ) = KI ( s ) LsI ( s ) + RI ( s ) = V ( s ) − Ksθ ( s ) (5) (6) where s denotes the Laplace operator From (6) we can express I(s): [ I ( s ) = V ( s ) − Ksθ ( s )] R + Ls Before any consideration of the above equations, we must know the constant values of data, K, J, b, V, L and R This is very important to the application of DC motor which we will be used The motor specification of DC Motor which will be used as motion control machine of Wheeled mobile Robot are firstly assigned and require as follows; Power P = watts, Speed N = 5000 rpm (max), rotor inertia J is assumed to be 0.01 and Supply voltage Vt = 12 volts Therefore for the max speed rpm of 5000, it can be calculate the torque constant K; ωm = (7) K (V ( s ) − Ksθ ( s )) Js θ = bsθ ( s ) = R + Ls θ (s) V (s) = By using equation 3, for (8) This equation for the DC motor is shown in the block diagram in Fig From equation (8), the transfer function from the input voltage, V (s), to the output angle, θ, directly follows: Ga( s ) = K (9) {s[( R + Ls )( Js + b) + K ]} K ×i = dω + bω dt ω= dθ dt At the steady state (used as analyzed data), both I and ω are stabilized; dω =0 dt From the block diagram in Fig 2, it is easy to see that the transfer function from the input voltage, V (s), to the angular velocity, ω, is: And T = P ; where W mentioned as the minimum W possible speed to rotate the DC motor, 1200 rpm; International Scholarly and Scientific Research & Innovation 1(8) 2007 (11) K = 0.023 and ωm = 524 radsec-1 and substitute it in (5) to obtain: Vt (2πN ) = K 60 1138 World Academy of Science, Engineering and Technology International Journal of Electrical, Computer, Electronics and Communication Engineering Vol:1, No:8, 2007 International Science Index Vol:1, No:8, 2007 waset.org/Publication/3689 T = 15.27 mNm Therefore, the total equivalent damping b can be chosen the value of; (0.023*0.663) – b (524) = b = 0.00003 By calculating and assuming the require data as above, the following value are assigned to be used for our desire DC Motor Model Vt=12; J=0.01; b =0.00003; K =0.023; R =1; and L =0.5; Fig A Closed-loop System that Representing the DC motor E Analysis As we may want plot the responses for the velocity and angle in one figure, it convenient to group the two transfer functions into a single system with one input, the voltage, and two outputs, the velocity and the angle: G = [Gv; Ga]; Another way is to first convert Ga into its state-space representation and then add one extra output being equal to the second state (the velocity): G = ss(Ga); set(G,’c’,[010;001],’d’,[0;0],’OutputName’,{’Velocity’;’An gle’}); This extension of the state-space model with an extra output has to be done in one set command in order to keep the dimensions consistent Now, we can plot the step, impulse and frequency responses of the motor model: figure(1); step(G,0:0.5:10); figure(2); impulse(G,0:0.5:10); figure(3); bode(G,0:0.5:10); (a) (b) International Scholarly and Scientific Research & Innovation 1(8) 2007 1139 World Academy of Science, Engineering and Technology International Journal of Electrical, Computer, Electronics and Communication Engineering Vol:1, No:8, 2007 ylabel ('Wm in rad/sec') subplot (4,1,3) % plot the angle vs time plot (y(:,4),y(:,5),'b') title ('Angle'); ylabel ('theta in rad') subplot (4,1,4) % plot the angle vs time plot (y(:,4),y(:,3),'g') title ('Current'); xlabel ('time in sec') ylabe l('I in Amp') IV DC MOTOR DRIVE SYSTEM USED FOR DIFFERENTIAL WMR International Science Index Vol:1, No:8, 2007 waset.org/Publication/3689 (c) Fig Step, Impulse Responses and Bode plot A General Operation Fig shows the Schematic Circuit Diagram of the PICbased DC motor drive system that support one part of the author’s research We can get the plots given in Fig Also we can analyze on each part of DC Motor rating as follows; TABLE I WMR DRIVING RESULTS DEPEND ON TWO MOTORS Left motor Right motor WMR Drive Clockwise Clockwise Go forward Clockwise Counter-CW Stop Counter-CW Clockwise Stop Counter-CW Counter-CW Go backward III SIMULINK MODEL Stop Clockwise Go to Right The block diagram of Fig can be represented and created as a model as shown in Fig The approaching to construct this model can easily be done by using Simulink Library The M- file and Simulink model can be combined by the following commands and these are commands used in M-file which can be solve it Clockwise Stop Go to Left figure(4); step(I,0:0.5:10); figure(5); impulse(I,0:0.5:10); figure(6); bode(I,0:0.5:10); figure(7); step(T,0:0.5:10); figure(8); impulse(T,0:0.5:10); figure(9); bode(T,0:0.5:10); sim('dctest.mdl',1.5) figure (10); subplot (4,1,1) % plot the torque vs time plot (y(:,4),y(:,2),'m'); title ('Torque T') ylabe l('T in N.m') Differential Drive is defined as the two differential states of Motors can be controlled the control circuit It used very simple statement of processes and for PIC itself; the program will take only a few memory For all type of control system that used H-bridge circuit, the input state of DC Motor condition are all follows and it can be clearly mean that the controller must be made to control the desire drive position with its output It can be known that current will flow in the right ways to drive the motor in only two states When transistor and transistor are ON or when transistor and transistor are ON subplot (4,1,2) % plot the speed vs time plot (y(:,4),y(:,1),'y'); title ('Rotor speed') International Scholarly and Scientific Research & Innovation 1(8) 2007 1140 International Science Index Vol:1, No:8, 2007 waset.org/Publication/3689 World Academy of Science, Engineering and Technology International Journal of Electrical, Computer, Electronics and Communication Engineering Vol:1, No:8, 2007 Fig Model that created in SIMULINK Toolbox of MATLAB Fig PIC-based DC Motor Control System for WMR B Circuit Explanation of DC Motor Drive Circuit The inputs of this circuit shown in Fig are the obstacle detected sensor outputs It is assumed to be five sensors application, Front sensor, two Left sensors and two Right sensors These sensors’ outputs are inputted to the PIC16F84A at Port A: RA4-RA0.Depend on the inputs state, the outputs conditions that controlled the H-brigde circuit are International Scholarly and Scientific Research & Innovation 1(8) 2007 provided by assembly software, at Port B: RB7-RB4 As for PIC microcontroller, this part is supplied with 5VDC In this circuit, PIC is used with a simple clock condition with MHz crystal The H-bridge circuit is supplied with 12VDC and the four bits outputs of PIC made this part to drive the desire conditions of DC Motor Opto-coupler circuit is used to feed 1141 World Academy of Science, Engineering and Technology International Journal of Electrical, Computer, Electronics and Communication Engineering Vol:1, No:8, 2007 its output to the two transistors which will active one for each time There are two H-bridge circuits to drive to motors and one part depends on two bits of PIC16F84A Both circuits can be derived the Motors to be rotate only in ‘10’ or ‘01’ of these two bits ‘00’ and ‘11’ means stopping Motor Four NPN transistors are used as switch to change or choose the direction of current flows to the Motor International Science Index Vol:1, No:8, 2007 waset.org/Publication/3689 V EXPERIMENTAL RESULTS The experimental results of both the Modeling and Simulink procedures and the control system testing circuit are shown in Fig to Fig 12 For the assembly software programming of the control circuit, the process is very simply and the procedure can be mentioned as the following steps Initialization Ports Declaration: all Port A’s pins are declared as inputs, four MSB Port B pins are declared as outputs Start program: check RA4(MSB) high or low check RA3 high or low check RA2 high or low check RA1 high or low check RA0 high or low Determined outputs: - If all inputs data are low outputs RB7-RB4, “1010” for freely going forward - If one or both of right sensors RA0 and RA1 are high, (A) check if any other sensor is high, outputs “1111” to stop (B) if no other sensor is high, outputs “1000” to go left If one or both of left sensors RA3 and RA4 are high, (A) check if any other sensor is high, outputs “1111” to stop (B) if no other sensor is high, outputs “0010” to go right Special data: if RA2 is high, it mentioned that the obstacle is at the front of WMR and therefore, with any conditions of other inputs, it must be outputted “1111” to stop Fig Final result of M-file using ‘dctest.mdl’ Fig Angle output from Simulink Model International Scholarly and Scientific Research & Innovation 1(8) 2007 1142 World Academy of Science, Engineering and Technology International Journal of Electrical, Computer, Electronics and Communication Engineering Vol:1, No:8, 2007 Fig 11 Scope Output of all Ratings International Science Index Vol:1, No:8, 2007 waset.org/Publication/3689 Fig Current output (a) Fig Speed Output (b) Fig 10 Torque output International Scholarly and Scientific Research & Innovation 1(8) 2007 1143 World Academy of Science, Engineering and Technology International Journal of Electrical, Computer, Electronics and Communication Engineering Vol:1, No:8, 2007 REFERENCES [1] [2] [3] [4] [5] [6] [7] [8] (c) International Science Index Vol:1, No:8, 2007 waset.org/Publication/3689 Fig 12 Circuit Construction and Testing Photos VI CONCLUSION AND FURTHER EXTENSIONS Electric machines are used to generate electrical power in power plants and provide mechanical work in industries The DC machine is considered to be basic electric machines The aim of this paper is to introduce Technicians to the modeling of power components and to use computer simulation as a tool for conducting transient and control studies Next to having an actual system to experiment on, simulation is often chosen by engineers to study transient and control performance or to test conceptual designs MATLAB/SIMULINK is used because of the short learning curve that most students require to start using it, its wide distribution, and its general-purpose nature This will demonstrate the advantages of using MATLAB for analyzing power system steady state behavior and its capabilities for simulating transients in power systems and power electronics, including control system dynamic behavior This paper mentioned only a part of the author’s research and approaching of his studies in MATLAB software The real application of this research paper is Robotic Control as mentioned in above Therefore future extensions of this paper are based on Sensor Technology, Microcontroller Technology, Motion Control and Optimization of Simulink model using MATLAB Optimizing of Model in MATLAB can be performed by using PID controller technique which can be analyzed in this MATLAB Simulink Wai Phyo Aung was born in 1981, August 15 Got A.GTI Certificate in 2000, November Graduated in 3rd November, 2003 with B.E (Electronic) and finished Master degree on March, 2006 with M.E (Electronic) Now, he is a PhD Candidate of Electronic Engineering Department, MTU, Myanmar He served as a Demonstrator at Mandalay GTC from May, 2002 to January, 2004 when he was attending the Special Engineering Course in MTU From February, 2004 to now, he promoted as an Assistant Lecturer of Dawei Technological University, Department of Technical and Vocational Education, Myanmar For his Master Thesis, he wrote the results of his research “Design and Construction of PIC-based Frequency Counter” Now, he is making his PhD research at Mandalay Technological University (MTU), Myanmar with the title of “Design and Construction of Motor Drive System used for mobile Industrial Robot’ Mr Wai Phyo Aung made his first publication of International Paper at this paper “Analysis on Modeling and Simulink of DC Motor and Its Driving System used for Wheeled Mobile Robot’ ACKNOWLEDGMENT Firstly the author would like to thank his parents: U Hla WIN and Daw Saw Shwe for their best wishes to join the PhD research Special thanks are due to his Supervisor/ Head of Electronic Engineering Department, MTU, Myanmar: Dr Yin Mon Myint The author would like to express his thank to his partners: Ms Aye Aye New and Ms Aye Aye Zan The author greatly expresses his thanks to all persons whom will concern to support in preparing this paper International Scholarly and Scientific Research & Innovation 1(8) 2007 Steven T.Karris, ‘Introduction to Simulink with Engineering Applications’, Orchard Publications, www.orchardpublications.com Tan Kiong Howe, May 2003, Thesis, B.E (Hons), ‘Evaluation of the transient response of a DC motor using MATLAB/SIMULINK’, University of Queensland MathWorks, 2001, Introduction to MATLAB, the MathWorks, Inc MathWorks, 2001, SIMULINK, the MathWorks, Inc MathWorks, 2001, What is SIMULINK, the MathWorks, Inc EE505 Electrical Engineering Lab, Spring 2007, project paper, ‘Lab2 DC Motor Control using a Microcontroller’ Carnegie,D.etal, 2004, ‘A human-like Semi Autonomous Mobile Security robot, University of Waikato, Hamilton, New Zealand Microchip Technology, Inc.2001, PIC16F84A Data Sheet, www.microchip.com 1144 ... Aung made his first publication of International Paper at this paper Analysis on Modeling and Simulink of DC Motor and Its Driving System used for Wheeled Mobile Robot ACKNOWLEDGMENT Firstly... states of Motors can be controlled the control circuit It used very simple statement of processes and for PIC itself; the program will take only a few memory For all type of control system that used. .. Before any consideration of the above equations, we must know the constant values of data, K, J, b, V, L and R This is very important to the application of DC motor which we will be used The motor